diff --git a/cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/CMakeLists.txt b/cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/CMakeLists.txt
index e423e826..17e68a24 100644
--- a/cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/CMakeLists.txt
+++ b/cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/CMakeLists.txt
@@ -1,17 +1,15 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(test_proxsuite)
+project(test_qpoases)
 
 set(CMAKE_CXX_STANDARD 20)
 
-FIND_PACKAGE(Eigen3 REQUIRED)
-INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
 ADD_COMPILE_OPTIONS(-Werror=return-type
                     -Wall -Wextra -Wmissing-declarations
                     -Wredundant-decls -Woverloaded-virtual)
 
 add_executable(${PROJECT_NAME}
-               ${PROJECT_NAME}.cpp)
+               src/${PROJECT_NAME}.cpp)
                
 target_link_libraries(${PROJECT_NAME}
              qpOASES
diff --git a/docs/source/cmake/cmake_packages_without_sudo.rst b/docs/source/cmake/cmake_packages_without_sudo.rst
index e3882f29..f8691a8f 100644
--- a/docs/source/cmake/cmake_packages_without_sudo.rst
+++ b/docs/source/cmake/cmake_packages_without_sudo.rst
@@ -63,7 +63,7 @@ This example shows how to build and install the qpOASES to be used in your CMake
 
 
 .. warning::
-  This example assumes you have git, CMake, Eigen, and a C++ compiler installed in your GNU/Linux distribution.
+  This example assumes you have git, CMake, and a C++ compiler installed in your GNU/Linux distribution.
 
 
 To install qpOASES as a shared library, we use the instructions provided by the DQ Robotics in \
@@ -95,11 +95,11 @@ Example: include and link the qpOASES in your project
         .. literalinclude:: ../../../cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/CMakeLists.txt
            :language: cmake
            :linenos:
-           :emphasize-lines: 17
+           :emphasize-lines: 15
 
     .. tab-item:: test_qpoases.cpp
 
-        :download:`test_dqrobotics.cpp <../../../cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/src/test_qpoases.cpp>`
+        :download:`test_qpoases.cpp <../../../cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/src/test_qpoases.cpp>`
 
         .. literalinclude:: ../../../cmake_tutorial_workspace/src/cpp_cmake_example_qpoases_lib/src/test_qpoases.cpp
             :language: cpp
diff --git a/docs/source/transformations/rviz.rst b/docs/source/transformations/rviz.rst
index 2302aedc..688658ce 100644
--- a/docs/source/transformations/rviz.rst
+++ b/docs/source/transformations/rviz.rst
@@ -114,9 +114,10 @@ The integrated sample can be executed as follows.
 
         .. code-block:: console
 
-            ros2 run rqt_image_view image_publisher
+            ros2 run image_publisher image_publisher_node /path/to/lenna.png \
+                --ros-args -r image_raw:=/images
 
-    .. tab-item:: Terminal 2: Run the bridge
+    .. tab-item:: Terminal 2: Run the visualiser
 
         .. code-block:: console